The following tables display the upper body segment angles from Plug-in Gait.

All upper body angles are calculated in rotation order YXZ.

As Euler angles are calculated, each rotation causes the axis for the subsequent rotation to be shifted. X’ indicates an axis which has been acted upon and shifted by one previous rotation, X’’ indicates a rotation axis which has been acted upon and shifted by two previous rotations.

Left upper body angles

Angles		Positive rotation	Axis	Direction
LHeadAngles	1	Backward Tilt	Prg.Fm. Y	Clockwise
	2	Right Tilt	Prg.Fm. X'	Anti-clockwise
	3	Right Rotation	Prg.Fm. Z''	Clockwise
LThoraxAngles	1	Forward Tilt	Prg.Fm. Y	Clockwise
	2	Right Tilt	Prg.Fm. X'	Anti-clockwise
	3	Right Rotation	Prg.Fm. Z''	Clockwise
LNeckAngles	1	Forward Tilt	Thorax Y	Clockwise
	2	Left Tilt	Thorax X'	Clockwise
	3	Left Rotation	Thorax Z''	Clockwise
LSpineAngles	1	Forward Thorax Tilt	Pelvis Y	Anti-Clockwise
	2	Left Thorax Tilt	Pelvis X'	Clockwise
	3	Left Thorax Rotation	Pelvis Z''	Anti-Clockwise
LShoulderAngles	1	Flexion	Thorax Y	Anti-clockwise
	2	Abduction	Thorax X'	Anti-clockwise
	3	Internal Rotation	Thorax Z''	Anti-clockwise
LElbowAngles	1	Flexion	Humeral Y	Anti-clockwise
	2	-	Humeral X'	-
	3	-	Humeral Z''	-
LWristAngles	1	Ulnar Deviation	Radius X	Clockwise
	2	Extension	Radius Y'	Clockwise
	3	Internal Rotation	Radius Z''	Clockwise

Right upper body angles

Angles		Positive rotation	Axis	Direction
RHeadAngles	1	Backward Tilt	Prg.Fm. Y	Clockwise
	2	Left Tilt	Prg.Fm. X'	Clockwise
	3	Left Rotation	Prg.Fm. Z''	Anti-clockwise
RThoraxAngles	1	Forward Tilt	Prg.Fm. Y	Clockwise
	2	Left Tilt	Prg.Fm. X'	Clockwise
	3	Left Rotation	Prg.Fm. Z''	Anti-clockwise
RNeckAngles	1	Forward Tilt	Thorax Y	Clockwise
	2	Right Tilt	Thorax X'	Anti-clockwise
	3	Right Rotation	Thorax Z''	Anti-clockwise
RSpineAngles	1	Forward Thorax Tilt	Pelvis Y	Anti-Clockwise
	2	Right Thorax Tilt	Pelvis X'	Anti-clockwise
	3	Right Thorax Rotation	Pelvis Z''	Clockwise
RShoulderAngles	1	Flexion	Thorax Y	Anti-clockwise
	2	Abduction	Thorax X'	Clockwise
	3	Internal Rotation	Thorax Z''	Clockwise
RElbowAngles	1	Flexion	Humeral Y	Clockwise
	2	-	Humeral X'	-
	3	-	Humeral Z''	-
RWristAngles	1	Ulnar Deviation	Radius X	Anti-clockwise
	2	Extension	Radius Y'	Clockwise
	3	Internal Rotation	Radius Z''	Anti-clockwise

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